OpenRaiser/Intern-Atlas huggingface dataset:
Ultra-low-power ring-based wireless tinymouse
Venue: arXiv cs.HC 2025
Year: 2025

Wireless mouse rings offer subtle, reliable pointing interactions for wearable computing platforms. However, the small battery below 27 mAh in the miniature rings restricts the ring's continuous lifespan to just 1-10 hours, because current low-powered wireless communication such as BLE is power-consuming for ring's continuous use. The ring's short lifespan frequently disrupts users' mouse use with the need for frequent charging. This paper presents picoRing mouse, enabling a continuous ring-based mouse interaction with ultra-low-powered ring-to-wristband wireless communication. picoRing mouse employs a coil-based impedance sensing named semi-passive inductive telemetry, allowing a wristband coil to capture a unique frequency response of a nearby ring coil via a sensitive inductive coupling between the coils. The ring coil converts the corresponding user's mouse input into the unique frequency response via an up to 449 uW mouse-driven modulation system. Therefore, the continuous use of picoRing mouse can last approximately 600 (8hrs use/day)-1000 (4hrs use/day) hours on a single charge of a 27 mAh battery while supporting subtle thumb-to-index scrolling and pressing interactions in real-world wearable computing situations.
Inherent and emergent liability issues in LLM-based agentic systems: a principal-agent perspective
Venue: arXiv cs.CY 2025
Year: 2025

Agentic systems powered by large language models (LLMs) are becoming progressively more complex and capable. Their increasing agency and expanding deployment settings attract growing attention to effective governance policies, monitoring, and control protocols. Based on the emerging landscape of the agentic market, we analyze potential liability issues arising from the delegated use of LLM agents and their extended systems through a principal-agent perspective. Our analysis complements existing risk-based studies on artificial agency and covers the spectrum of important aspects of the principal-agent relationship and their potential consequences at deployment. Furthermore, we motivate method developments for technical governance along the directions of interpretability and behavior evaluations, reward and conflict management, and the mitigation of misalignment and misconduct through principled engineering of detection and fail-safe mechanisms. By illustrating the outstanding issues in AI liability for LLM-based agentic systems, we aim to inform the system design, auditing, and tracing to enhance transparency and liability attribution.
Monte Carlo Graph Coloring
Venue: arXiv cs.AI 2025
Year: 2025

Graph Coloring is probably one of the most studied and famous problem in graph algorithms. Exact methods fail to solve instances with more than few hundred vertices, therefore, a large number of heuristics have been proposed. Nested Monte Carlo Search (NMCS) and Nested Rollout Policy Adaptation (NRPA) are Monte Carlo search algorithms for single player games. Surprisingly, few work has been dedicated to evaluating Monte Carlo search algorithms to combinatorial graph problems. In this paper we expose how to efficiently apply Monte Carlo search to Graph Coloring and compare this approach to existing ones.
Dynamic Objective MPC for Motion Planning of Seamless Docking Maneuvers
Venue: arXiv cs.RO 2025
Year: 2025

Automated vehicles and logistics robots must often position themselves in narrow environments with high precision in front of a specific target, such as a package or their charging station. Often, these docking scenarios are solved in two steps: path following and rough positioning followed by a high-precision motion planning algorithm. This can generate suboptimal trajectories caused by bad positioning in the first phase and, therefore, prolong the time it takes to reach the goal. In this work, we propose a unified approach, which is based on a Model Predictive Control (MPC) that unifies the advantages of Model Predictive Contouring Control (MPCC) with a Cartesian MPC to reach a specific goal pose. The paper's main contributions are the adaption of the dynamic weight allocation method to reach path ends and goal poses inside driving corridors, and the development of the so-called dynamic objective MPC. The latter is an improvement of the dynamic weight allocation method, which can inherently switch state-dependent from an MPCC to a Cartesian MPC to solve the path-following problem and the high-precision positioning tasks independently of the location of the goal pose seamlessly by one algorithm. This leads to foresighted, feasible, and safe motion plans, which can decrease the mission time and result in smoother trajectories.
RWKVTTS: Yet another TTS based on RWKV-7
Venue: arXiv cs.SD 2025
Year: 2025

Human-AI interaction thrives on intuitive and efficient interfaces, among which voice stands out as a particularly natural and accessible modality. Recent advancements in transformer-based text-to-speech (TTS) systems, such as Fish-Speech, CosyVoice, and MegaTTS 3, have delivered remarkable improvements in quality and realism, driving a significant evolution in the TTS domain. In this paper, we introduce RWKV-7 \cite{peng2025rwkv}, a cutting-edge RNN-based architecture tailored for TTS applications. Unlike traditional transformer models, RWKV-7 leverages the strengths of recurrent neural networks to achieve greater computational efficiency and scalability, while maintaining high-quality output. Our comprehensive benchmarks demonstrate that RWKV-7 outperforms transformer-based models across multiple key metrics, including synthesis speed, naturalness of speech, and resource efficiency. Furthermore, we explore its adaptability to diverse linguistic contexts and low-resource environments, showcasing its potential to democratize TTS technology. These findings position RWKV-7 as a powerful and innovative alternative, paving the way for more accessible and versatile voice synthesis solutions in real-world applications.Our code and weights are https://github.com/yynil/RWKVTTS, https://huggingface.co/spaces/RWKV-Red-Team
Stance-Driven Multimodal Controlled Statement Generation: New Dataset and Task
Venue: arXiv cs.CL 2025
Year: 2025

Formulating statements that support diverse or controversial stances on specific topics is vital for platforms that enable user expression, reshape political discourse, and drive social critique and information dissemination. With the rise of Large Language Models (LLMs), controllable text generation towards specific stances has become a promising research area with applications in shaping public opinion and commercial marketing. However, current datasets often focus solely on pure texts, lacking multimodal content and effective context, particularly in the context of stance detection. In this paper, we formally define and study the new problem of stance-driven controllable content generation for tweets with text and images, where given a multimodal post (text and image/video), a model generates a stance-controlled response. To this end, we create the Multimodal Stance Generation Dataset (StanceGen2024), the first resource explicitly designed for multimodal stance-controllable text generation in political discourse. It includes posts and user comments from the 2024 U.S. presidential election, featuring text, images, videos, and stance annotations to explore how multimodal political content shapes stance expression. Furthermore, we propose a Stance-Driven Multimodal Generation (SDMG) framework that integrates weighted fusion of multimodal features and stance guidance to improve semantic consistency and stance control. We release the dataset and code (https://anonymous.4open.science/r/StanceGen-BE9D) for public use and further research.
Optimal Embedding Guided Negative Sample Generation for Knowledge Graph Link Prediction
Venue: arXiv cs.LG 2025
Year: 2025

Knowledge graph embedding (KGE) models encode the structural information of knowledge graphs to predicting new links. Effective training of these models requires distinguishing between positive and negative samples with high precision. Although prior research has shown that improving the quality of negative samples can significantly enhance model accuracy, identifying high-quality negative samples remains a challenging problem. This paper theoretically investigates the condition under which negative samples lead to optimal KG embedding and identifies a sufficient condition for an effective negative sample distribution. Based on this theoretical foundation, we propose \textbf{E}mbedding \textbf{MU}tation (\textsc{EMU}), a novel framework that \emph{generates} negative samples satisfying this condition, in contrast to conventional methods that focus on \emph{identifying} challenging negative samples within the training data. Importantly, the simplicity of \textsc{EMU} ensures seamless integration with existing KGE models and negative sampling methods. To evaluate its efficacy, we conducted comprehensive experiments across multiple datasets. The results consistently demonstrate significant improvements in link prediction performance across various KGE models and negative sampling methods. Notably, \textsc{EMU} enables performance improvements comparable to those achieved by models with embedding dimension five times larger. An implementation of the method and experiments are available at https://github.com/nec-research/EMU-KG.
Decentralized Collective World Model for Emergent Communication and Coordination
Venue: arXiv cs.MA 2025
Year: 2025

We propose a fully decentralized multi-agent world model that enables both symbol emergence for communication and coordinated behavior through temporal extension of collective predictive coding. Unlike previous research that focuses on either communication or coordination separately, our approach achieves both simultaneously. Our method integrates world models with communication channels, enabling agents to predict environmental dynamics, estimate states from partial observations, and share critical information through bidirectional message exchange with contrastive learning for message alignment. Using a two-agent trajectory drawing task, we demonstrate that our communication-based approach outperforms non-communicative models when agents have divergent perceptual capabilities, achieving the second-best coordination after centralized models. Importantly, our decentralized approach with constraints preventing direct access to other agents' internal states facilitates the emergence of more meaningful symbol systems that accurately reflect environmental states. These findings demonstrate the effectiveness of decentralized communication for supporting coordination while developing shared representations of the environment.
A Generalized Binary Tree Mechanism for Differentially Private Approximation of All-Pair Distances
Venue: arXiv cs.DS 2025
Year: 2025

We study the problem of approximating all-pair distances in a weighted undirected graph with differential privacy, introduced by Sealfon [Sea16]. Given a publicly known undirected graph, we treat the weights of edges as sensitive information, and two graphs are neighbors if their edge weights differ in one edge by at most one. We obtain efficient algorithms with significantly improved bounds on a broad class of graphs which we refer to as \textit{recursively separable}. In particular, for any $n$-vertex $K_h$-minor-free graph, our algorithm achieve an additive error of $\widetilde{O}(h(nW)^{1/3} ) $, where $ W $ represents the maximum edge weight; For grid graphs, the same algorithmic scheme achieve additive error of $\widetilde{O}(n^{1/4}\sqrt{W})$. Our approach can be seen as a generalization of the celebrated binary tree mechanism for range queries, as releasing range queries is equivalent to computing all-pair distances on a path graph. In essence, our approach is based on generalizing the binary tree mechanism to graphs that are \textit{recursively separable}.
Fairness vs. Equality: RSMA-Based Multi-Target and Multi-User Integrated Sensing and Communications
Venue: arXiv cs.IT 2025
Year: 2025

This paper investigates the tradeoff between sensing and communication in an ISAC system comprising multiple sensing targets and communication users. A dual-functional base station conducts downlink data transmission services based on RSMA for multiple users, while sensing surrounding multiple targets. To enable effective multicast communications and ensure fair and balanced multi-target sensing and under a constrained power budget, we propose a multi-target sensing enhancement scheme incorporating fairness-aware BF, common rate splitting, and sensing power allocation. The proposed scheme minimizes the sensing CRB, while maximizing communication rate demands. Specifically, we derive closed-form expressions for both sensing CRB and communication rates. Building upon them, we formulate an optimization problem aiming to minimize the sensing CRB, while maximizing the communication rates. Considering the non-convex nature of the original optimization problem poses significant computational challenges, we transform the tradeoff optimization into a Pareto-optimal problem by employing Taylor series expansion, semi-definite relaxation, successive convex approximation, and penalty function to transform the non-convex problem and associated constraints into tractable forms. Extensive simulations validate the theoretical analysis and demonstrate significant advantages of the proposed RSMA-based fairness-aware BF over non-orthogonal multiple access, space division multiple access, and orthogonal multiple access, through comprehensive comparisons in two key aspects: CRB performance improvement and sensing-communication tradeoff characteristics. The proposed optimization framework exhibits remarkable superiority in enhancing both sensing accuracy and communication quality for ISAC systems.
Point Cloud-based Grasping for Soft Hand Exoskeleton
Venue: arXiv cs.RO 2025
Year: 2025

Grasping is a fundamental skill for interacting with and manipulating objects in the environment. However, this ability can be challenging for individuals with hand impairments. Soft hand exoskeletons designed to assist grasping can enhance or restore essential hand functions, yet controlling these soft exoskeletons to support users effectively remains difficult due to the complexity of understanding the environment. This study presents a vision-based predictive control framework that leverages contextual awareness from depth perception to predict the grasping target and determine the next control state for activation. Unlike data-driven approaches that require extensive labelled datasets and struggle with generalizability, our method is grounded in geometric modelling, enabling robust adaptation across diverse grasping scenarios. The Grasping Ability Score (GAS) was used to evaluate performance, with our system achieving a state-of-the-art GAS of 91% across 15 objects and healthy participants, demonstrating its effectiveness across different object types. The proposed approach maintained reconstruction success for unseen objects, underscoring its enhanced generalizability compared to learning-based models.
Virtualizing a Collaboration Task as an Interactable Environment and Installing it on Real World
Venue: arXiv cs.HC 2025
Year: 2025

This paper proposes a novel approach to scaling distributed collaboration in mixed reality by virtualizing collaborative tasks as independent, installable environments. By mapping group activities into dedicated virtual spaces that adapt to each user's real-world context, the proposed method supports consistent MR interactions, dynamic group engagement, and seamless task transitions. Preliminary studies in individual ideation demonstrate enhanced immersion and productivity, paving the way for future multi-user collaborative systems.
QuinID: Enabling FDMA-Based Fully Parallel RFID with Frequency-Selective Antenna
Venue: arXiv cs.NI 2025
Year: 2025

Parallelizing passive Radio Frequency Identification (RFID) reading is an arguably crucial, yet unsolved challenge in modern IoT applications. Existing approaches remain limited to time-division operations and fail to read multiple tags simultaneously. In this paper, we introduce QuinID, the first frequency-division multiple access (FDMA) RFID system to achieve fully parallel reading. We innovatively exploit the frequency selectivity of the tag antenna rather than a conventional digital FDMA, bypassing the power and circuitry constraint of RFID tags. Specifically, we delicately design the frequency-selective antenna based on surface acoustic wave (SAW) components to achieve extreme narrow-band response, so that QuinID tags (i.e., QuinTags) operate exclusively within their designated frequency bands. By carefully designing the matching network and canceling various interference, a customized QuinReader communicates simultaneously with multiple QuinTags across distinct bands. QuinID maintains high compatibility with commercial RFID systems and presents a tag cost of less than 10 cents. We implement a 5-band QuinID system and evaluate its performance under various settings. The results demonstrate a fivefold increase in read rate, reaching up to 5000 reads per second.
Optimizing Quantum Circuits via ZX Diagrams using Reinforcement Learning and Graph Neural Networks
Venue: arXiv cs.LG 2025
Year: 2025

Quantum computing is currently strongly limited by the impact of noise, in particular introduced by the application of two-qubit gates. For this reason, reducing the number of two-qubit gates is of paramount importance on noisy intermediate-scale quantum hardware. To advance towards more reliable quantum computing, we introduce a framework based on ZX calculus, graph-neural networks and reinforcement learning for quantum circuit optimization. By combining reinforcement learning and tree search, our method addresses the challenge of selecting optimal sequences of ZX calculus rewrite rules. Instead of relying on existing heuristic rules for minimizing circuits, our method trains a novel reinforcement learning policy that directly operates on ZX-graphs, therefore allowing us to search through the space of all possible circuit transformations to find a circuit significantly minimizing the number of CNOT gates. This way we can scale beyond hard-coded rules towards discovering arbitrary optimization rules. We demonstrate our method's competetiveness with state-of-the-art circuit optimizers and generalization capabilities on large sets of diverse random circuits.
Know What You do Not Know: Verbalized Uncertainty Estimation Robustness on Corrupted Images in Vision-Language Models
Venue: arXiv cs.CV 2025
Year: 2025

To leverage the full potential of Large Language Models (LLMs) it is crucial to have some information on their answers' uncertainty. This means that the model has to be able to quantify how certain it is in the correctness of a given response. Bad uncertainty estimates can lead to overconfident wrong answers undermining trust in these models. Quite a lot of research has been done on language models that work with text inputs and provide text outputs. Still, since the visual capabilities have been added to these models recently, there has not been much progress on the uncertainty of Visual Language Models (VLMs). We tested three state-of-the-art VLMs on corrupted image data. We found that the severity of the corruption negatively impacted the models' ability to estimate their uncertainty and the models also showed overconfidence in most of the experiments.
D-Garment: Physics-Conditioned Latent Diffusion for Dynamic Garment Deformations
Venue: arXiv cs.CV 2025
Year: 2025

Adjusting and deforming 3D garments to body shapes, body motion, and cloth material is an important problem in virtual and augmented reality. Applications are numerous, ranging from virtual change rooms to the entertainment and gaming industry. This problem is challenging as garment dynamics influence geometric details such as wrinkling patterns, which depend on physical input including the wearer's body shape and motion, as well as cloth material features. Existing work studies learning-based modeling techniques to generate garment deformations from example data, and physics-inspired simulators to generate realistic garment dynamics. We propose here a learning-based approach trained on data generated with a physics-based simulator. Compared to prior work, our 3D generative model learns garment deformations for loose cloth geometry, especially for large deformations and dynamic wrinkles driven by body motion and cloth material. Furthermore, the model can be efficiently fitted to observations captured using vision sensors. We propose to leverage the capability of diffusion models to learn fine-scale detail: we model the 3D garment in a 2D parameter space, and learn a latent diffusion model using this representation independent from the mesh resolution. This allows to condition global and local geometric information with body and material information. We quantitatively and qualitatively evaluate our method on both simulated data and data captured with a multi-view acquisition platform. Compared to strong baselines, our method is more accurate in terms of Chamfer distance.
Multi-encoder nnU-Net outperforms transformer models with self-supervised pretraining
Venue: arXiv cs.CV 2025
Year: 2025

This study addresses the essential task of medical image segmentation, which involves the automatic identification and delineation of anatomical structures and pathological regions in medical images. Accurate segmentation is crucial in radiology, as it aids in the precise localization of abnormalities such as tumors, thereby enabling effective diagnosis, treatment planning, and monitoring of disease progression. Specifically, the size, shape, and location of tumors can significantly influence clinical decision-making and therapeutic strategies, making accurate segmentation a key component of radiological workflows. However, challenges posed by variations in MRI modalities, image artifacts, and the scarcity of labeled data complicate the segmentation task and impact the performance of traditional models. To overcome these limitations, we propose a novel self-supervised learning Multi-encoder nnU-Net architecture designed to process multiple MRI modalities independently through separate encoders. This approach allows the model to capture modality-specific features before fusing them for the final segmentation, thus improving accuracy. Our Multi-encoder nnU-Net demonstrates exceptional performance, achieving a Dice Similarity Coefficient (DSC) of 93.72%, which surpasses that of other models such as vanilla nnU-Net, SegResNet, and Swin UNETR. By leveraging the unique information provided by each modality, the model enhances segmentation tasks, particularly in scenarios with limited annotated data. Evaluations highlight the effectiveness of this architecture in improving tumor segmentation outcomes.